src/libs/actuators/StepperMotor.h

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
   4       Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #ifndef STEPPERMOTOR_H
   9 #define STEPPERMOTOR_H
  10
  11 #include "libs/Kernel.h"
  12 #include "libs/Hook.h"
  13 #include "libs/actuators/Actuator.h"
  14
  15 class StepTicker;
  16
  17 class StepperMotor : public Actuator {
  18     public:
  19         //StepperMotor();
  20         StepperMotor(Pin* step, Pin* dir, Pin* en);
  21
  22         void tick();
  23         void step();
  24         void move_finished();
  25         void move( bool direction, unsigned int steps );
  26         void signal_move_finished();
  27         void set_speed( double speed );
  28         void update_exit_tick();
  29         void pause();
  30         void unpause();
  31
  32         StepTicker* step_ticker;
  33         Pin* step_pin;
  34         Pin* dir_pin;
  35         Pin* en_pin;
  36
  37         bool is_move_finished; // Whether the move just finished
  38 };
  39
  40
  41 // Called a great many times per second, to step if we have to now
  42 inline void StepperMotor::tick(){
  43
  44     // increase the ( fixed point ) counter by one tick 11t
  45     this->fx_counter += (uint32_t)(1<<16);
  46
  47     // if we are to step now 10t
  48     if( this->fx_counter >= this->fx_ticks_per_step ){ this->step(); }
  49
  50 }
  51
  52
  53
  54 #endif
  55